CN220533301U - Displacement mechanism and arc-shaped steel end plate welding device - Google Patents

Abstract

The utility model relates to the technical field of arc steel processing, in particular to a displacement mechanism and an arc steel end plate welding device, wherein the displacement mechanism comprises a bottom bracket, a disc, a rotary driving assembly, a clamping assembly and a positioning assembly, the disc is rotatably arranged on the bottom bracket, an open slot is formed in the disc, and the open slot is communicated with the circumferential surface of the disc; a rotary drive assembly mounted on the shoe and configured to drive the disc to rotate about its own axis; a clamping assembly mounted on the disc configured to centrally clamp the arcuate steel; the positioning assembly is mounted on the disc and includes a first condition proximate to the open slot for positioning the end of the arcuate steel and a second condition distal to the open slot. The deflection mechanism can position the arc steel, and the arc steel end plate is welded by matching with the welding mechanism, so that the welding efficiency is improved.

Description

Displacement mechanism and arc-shaped steel end plate welding device

Technical field

The utility model relates to the technical field of arc steel processing, and in particular to a displacement mechanism and an arc steel end plate welding device.

Background technique

Positioner equipment is a special welding auxiliary equipment that can cooperate with welding robots for welding operations. Positioner equipment is mainly suitable for welding displacement of workpiece welds and ship-shaped operations to obtain the ideal processing position and welding speed.

We can know that the reason why the welding robot can complete the welding operation is through pre-programmed control. Therefore, the welding robot requires high accuracy for the distance between the arc steel and the welding robot. Once the welding end of the arc steel and the welding robot Deviations from the preset welding station will make it difficult for the welding robot to perform welding operations. The currently used positioner lacks a structure for positioning arc-shaped steel, making it difficult to cooperate with existing welding robots to achieve arc-shaped steel end plate welding operations, and the welding efficiency is low.

Utility model content

One of the purposes of this utility model is to provide a displacement mechanism that can position the end of the arc-shaped steel so that the distance between the end of the arc-shaped steel and the displacement mechanism itself is consistent, so as to facilitate the welding operation of the profile steel end plate in conjunction with the welding mechanism. , improve welding efficiency.

To achieve this purpose, the utility model adopts the following technical solutions:

The displacement mechanism includes a bottom bracket, a disc, a rotary drive component, a clamping component and a positioning component. The disc is rotatably mounted on the bottom bracket. The disc is provided with an opening slot, and the opening slot is connected to the bottom bracket. The circumferential surfaces of the disc are connected; the rotation drive component is installed on the bottom bracket and is configured to drive the disc to rotate around its own axis; the clamping component is installed on the disc and is Configured to centrally clamp the arc-shaped steel; the positioning assembly is installed on the disc and includes a first state close to the open slot to position the end of the arc-shaped steel and a position away from the open slot the second state.

Preferably, the clamping assembly includes a first clamping plate, a second clamping plate and a first driving member. The first clamping plate and the second clamping plate are respectively located on both sides of the opening slot and are arranged parallel to the opening slot. , the first driving member is configured to drive the first clamping plate and the second clamping plate to move toward or away from each other.

Preferably, the clamping assembly further includes a driving gear, a driven gear, a first connecting rod and a second connecting rod. The driving gear, the driven gear, the first connecting rod and the second connecting rod The rods are all rotatably connected to the disk, the driving gear is meshed with the driven gear, and the driving gear and the first connecting rod rotate with the first end and the second end of the first clamping plate respectively. connection, the first clamping plate is eccentrically connected to the driving gear; the driven gear and the second connecting rod are rotationally connected to the first end and the second end of the second clamping plate respectively, and the second clamping plate Eccentrically connected to the driven gear, the first driving member is hingedly connected to the disk, and its output end is rotationally connected to the first connecting rod.

Preferably, the clamping assembly further includes a guard plate, the guard plates are provided on opposite sides of the first and second clamping plates, and the first end of the guard plate is directed away from the other guard plate. The second end of the guard plate is bent in a direction close to the other guard plate.

Preferably, the positioning component is disposed on a side of the disk away from the opening of the slot. The positioning component includes a power arm, a positioning roller, an abutment plate and a third driving member. The first part of the power arm The end of the power arm is hingedly connected to the disc, the second end of the power arm is connected to the positioning roller, the positioning roller can rotate around its own axis, and the abutment plate is disposed on the side of the power arm facing the opening slot. On one side and perpendicular to the opening slot, the positioning roller and the third driving member are located on both sides of the abutment plate, and the output end of the third driving member is connected to the power arm and is configured To drive the power arm to rotate around the first end of the power arm.

Preferably, the clamping component is located inside the disc, and the displacement mechanism further includes a guide component disposed on a side of the disc facing away from the positioning component. The guide component includes a guide component parallel to the opening slot. Two guide rollers that can rotate around their own axes.

Another object of the present utility model is to provide an arc-shaped steel end plate welding device, which includes a walking bottom beam, a walking trolley, a welding mechanism and the above-mentioned displacement mechanism. The walking trolley is provided with two groups, which can be Moving on the walking bottom beam, the welding mechanism and the displacement mechanism are provided in two groups, and each pair is symmetrically arranged on the two groups of walking trolleys.

Preferably, it also includes a transport robot, and the transport robot is provided with two groups, each of which is fixedly connected to the two groups of walking trolleys so as to walk with the walking trolleys.

Preferably, the handling robot includes a robot body and a grabbing component, the grabbing component is used to grab the end plate, and the grabbing component is flexibly connected to the robot body.

Preferably, the traveling trolley includes a trolley body, a fourth driving member and a traveling sprocket. The walking bottom beam is provided with a traveling chain that cooperates with the traveling sprocket. The output end of the fourth driving member is connected to the traveling sprocket. The traveling sprocket is connected, and the fourth driving member is flexibly connected to the trolley body.

Beneficial effects of the utility model: the displacement mechanism in the utility model can clamp the profile steel to flip the profile steel, weld the profile steel from different angles, and can position the end of the profile steel through the setting of the positioning assembly, so that the end of the profile steel can be The distance between the end of the positioning mechanism and the displacement mechanism itself remains consistent. When the positioning mechanism cooperates with the welding mechanism to weld the section steel end plate, the distance between the welding mechanism that moves together with the positioning mechanism and the end of the section steel is the same as the preset distance, then the welding mechanism can follow the The profiled steel end plates are welded to a preset degree to complete the welding operation and improve the welding efficiency.

Description of drawings

Figure 1 is a top view of the arc-shaped steel end plate welding device in the embodiment of the present utility model;

Figure 2 is a side view of the displacement mechanism in the embodiment of the present utility model;

Figure 3 is a front view of the displacement mechanism in the embodiment of the present utility model;

Figure 4 is a rear view of the displacement mechanism in the embodiment of the present utility model;

Figure 5 is a schematic diagram of the internal structure of the displacement mechanism in the embodiment of the present utility model;

Figure 6 is a cross-sectional view along the E-E direction in Figure 5;

Figure 7 is a schematic structural diagram of the positioning component from one angle;

Figure 8 is a view in direction M of Figure 7;

Figure 9 is an N-direction view of Figure 8;

Figure 10 is a schematic structural diagram of a traveling trolley equipped with a welding mechanism, a transportation mechanism, and a displacement mechanism;

Figure 11 is an enlarged structural schematic diagram of M in Figure 10;

Figure 12 is an enlarged structural schematic diagram of position N in Figure 10;

Figure 13 is a top view of Figure 10;

Figure 14 is a diagram of the displacement angle of the displacement mechanism during the welding operation of the arc-shaped steel end plate.

In the picture:

10. Displacement mechanism, 11. Bottom bracket; 111. Limiting plate; 12. Disc; 121. Open slot; 13. Clamping component; 131. First plywood; 132. Second plywood; 133. First drive 134. Driving gear; 135. Driven gear; 136. First connecting rod; 137. Second connecting rod; 138. Guard plate; 14. Rotary drive assembly; 141. Idler roller; 142. Second driving member; 143. Rotating sprocket; 144. Rotating chain; 15. Positioning component; 151. Power arm; 1511. Mounting plate; 1512. Connecting plate; 152. Contact plate; 153. Positioning roller; 154. Third driving member; 16 , guide assembly; 161, guide roller; 162, roller slider;

20. Welding mechanism; 21. Welding robot; 22. Welding robot welding machine; 23. Welding robot control cabinet; 24. Support plate;

30. Handling mechanism; 31. Support frame; 32. Handling robot; 321. Robot body; 322. Grabbing component; 323. First flexible connection component; 3231. Mounting base; 3232. Flexible connecting plate; 3233. Connecting rod; 3234. Nylon pad; 3235. First buffer spring; 3236. First nut; 33. Handling robot control cabinet;

40. Traveling trolley; 41. Main body of trolley; 42. Fourth driving part; 43. Composite roller assembly; 44. Traveling sprocket; 45. Second flexible connection component; 451. Transition plate; 452. Second nut; 453 , screw; 454, second buffer spring;

50. Traveling bottom beam; 51. Ground rail; 52. Forklift channel steel; 53. Traveling chain.

Detailed ways

The utility model will be further described in detail below in conjunction with the accompanying drawings and examples. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for convenience of description, only some but not all structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless otherwise explicitly stipulated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a detachable connection. Integration; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the present invention, unless otherwise expressly stipulated and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features being in direct contact with each other. Features are not in direct contact but through other features between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this embodiment, the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplified operation. , rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and have no special meaning.

When welding arc-shaped steel end plates, a positioner is usually installed at both ends of the arc-shaped steel to ensure that the entire arc-shaped steel can rotate together when needed. In order to improve the welding efficiency, the two ends of the arc-shaped steel are A set of welding mechanisms are also provided respectively. The welding mechanism welds the end plates to the two end faces of the arc-shaped steel according to the preset programming program. The premise that this operation can be carried out smoothly is that the two ends of the arc-shaped steel can accurately correspond to the preset welding stations of the welding mechanism. That is to say, the distance between the end of the arc-shaped steel and the welding mechanism should be consistent with the preset distance.

Based on this, the present utility model proposes an arc-shaped steel end plate welding device that can position the end of the arc-shaped steel relative to the welding mechanism 20, so that when welding arc-shaped steel end plates in batches, the welding mechanism 20 and If the distance between the ends of the arc-shaped steel is maintained at a preset distance, the welding mechanism 20 can weld the end plate to the end face of the arc-shaped steel according to the preset program without reprogramming.

Figures 1 to 13 show an arc-shaped steel end plate welding device in one embodiment of the present invention. The arc-shaped steel end plate welding device includes a walking bottom beam 50, a walking trolley 40, a displacement mechanism 10 and a welding device. Mechanism 20, in which two groups of traveling trolleys 40, displacement mechanisms 10 and welding mechanisms 20 are provided. Each group of traveling trolleys 40 is equipped with a group of displacement mechanisms 10 and a group of welding mechanisms 20. The displacements on the two groups of traveling trolleys 40 are The mechanism 10 and the welding mechanism 20 are arranged symmetrically. The two groups of traveling trolleys 40 reciprocate on the traveling bottom beam 50 along the extending direction of the traveling bottom beam 50, driving the displacement mechanism 10 and the welding mechanism 20 to move together. The displacement mechanism 10 is provided with There is a positioning component 15. When the positioning component 15 contacts the arc-shaped steel, the traveling trolley 40 stops moving. At this time, the distance between the welding mechanism 20 and the end of the arc-shaped steel is the same as the preset distance. The welding mechanism 20 moves the end according to the preset degree. The plate is welded on the arc-shaped steel end face, and the welding efficiency is high.

Referring to Figures 2 to 9, the displacement mechanism 10 includes a bottom bracket 11, a disc 12, a clamping component 13, a rotary drive component 14 and a positioning component 15. The disc 12 is rotatably mounted on the bottom bracket 11. 12 is provided with an open slot 121 for arc-shaped steel to pass through. The open slot 121 is connected with the circumferential surface of the disc 12. The rotary drive assembly 14 is installed on the bottom bracket 11 and is configured to drive the disc 12 on the bottom bracket 11. It rotates around its own axis, the clamping component 13 is installed on the disc 12 for clamping the arc-shaped steel, and the positioning component 15 is installed on the disc 12 for positioning the end of the arc-shaped steel. It should be emphasized that in order to avoid interference of the positioning component 15 when processing or loading the end of the arc-shaped steel, the positioning component 15 is movably connected to the disc 12 and includes a first positioning member close to the opening slot 121 for positioning the arc-shaped steel. state and a second state away from the opening slot 121 .

Exemplarily, the entire disk 12 is provided in a hollow shape, and the clamping assembly 13 is located inside the disk 12 and includes a first clamping plate 131 and a second clamping plate 132. The first clamping plate 131 and the second clamping plate 132 are respectively located on both sides of the opening slot 121. And arranged parallel to the opening slot 121, the first clamping plate 131 and the second clamping plate 132 can move closer to or away from each other to clamp or loosen the arc-shaped steel.

In order to achieve centering clamping of the arc-shaped steel, the first clamping plate 131 and the second clamping plate 132 need to move simultaneously. In this embodiment, the first clamping plate 131 and the second clamping plate 132 are connected in a transmission manner. One of the first clamping plate 131 and the second clamping plate 132 is connected with a first driving member 133. Under the action of the first driving member 133, it is connected with the first driving member 133. The first clamping plate 131 or the second clamping plate 132 connected by the member 133 can move closer to or away from the opening slot 121, and transfer the moving power to the second clamping plate 132 or the first clamping plate 131, so that the first clamping plate 131 and the second clamping plate 132 Make synchronous opposite or opposite movements.

Taking the connection between the first driving member 133 and the first clamping plate 131 as an example, the first driving member 133 may be a cylinder or an oil cylinder. The clamping assembly 13 also includes a driving gear 134, a driven gear 135, a first connecting rod 136 and a second connecting rod 137. The driving gear 134 and the driven gear 135 are rotationally connected to the disc 12 through a gear shaft. The first connecting rod 136 The second connecting rod 137 is rotationally connected to the disc 12 through the connecting rod shaft, and the driving gear 134 is meshed with the driven gear 135. The driving gear 134 and the first connecting rod 136 are respectively connected with the first end and the second end of the first clamping plate 131. The two ends are rotationally connected, and the first clamping plate 131 is eccentrically connected to the driving gear 134; the driven gear 135 and the second connecting rod 137 are respectively rotationally connected to the first end and the second end of the second clamping plate 132, and the second clamping plate 132 is connected to the driving gear 134. The driven gear 135 is eccentrically connected, the first driving member 133 is rotatably mounted on the disc 12 , and its output end is rotatably connected to the first connecting rod 136 . The entire clamping assembly 13 can be regarded as a four-link structure with two sets of transmission connections. The distance between the transfer point of the first clamping plate 131 and the driving gear 134 and the gear shaft of the driving gear 134 is equal to the distance between the first clamping plate 131 and the first connecting rod. The distance between the transfer point of the rod 136 and the connecting rod axis of the first connecting rod 136, the distance between the transfer point of the second clamping plate 132 and the driven gear 135 and the gear axis of the driven gear 135 is equal to the second clamping plate 132 and the distance between the transfer point of the second link 137 and the link axis of the first link 136, then the first clamping plate 131 and the second clamping plate 132 always remain parallel during the movement. In this embodiment, in order to save installation space and reduce the size of the disk 12, both the driving gear 134 and the driven gear 135 adopt sector gears.

More specifically, in order to prevent the first and second clamping plates 131 and 132 from causing damage to the curved steel surface, protective plates 138 are provided on opposite sides of the first and second clamping plates 131 and 132 , and the first end of the protective plate 138 passes through The disc 12 is bent away from the other guard plate 138 to facilitate the arc-shaped steel to enter the opening slot 121. The second end of the guard plate 138 is bent in a direction close to the other guard plate 138 to facilitate the arc-shaped steel. The steel is limited to prevent the arc-shaped steel from contacting the driving gear 134 and the driven gear 135 located inside the disk 12, thereby affecting the meshing transmission between the driving gear 134 and the driven gear 135.

In order to adapt to the rotation of the disk 12 around its own axis, the top of the bottom bracket 11 is provided with an arc-shaped holding groove that matches the shape of the disk 12. The disk 12 is placed in the holding groove, and the corresponding central angle of the holding groove is less than 180°. , to ensure that the disc 12 can at least rotate 180° forward and backward on the bottom bracket 11. In addition, limit plates 111 are provided on both sides of the circumference of the bottom bracket 11. During the rotation of the disk 12, the contact between the guard plate 138 and the limit plate 111 can limit the disk 12 from continuing to rotate in the same direction and prevent the disk 12 from over-rotating. . The rotary drive assembly 14 is arranged in the accommodating groove and includes a supporting roller 141 and a second driving member 142. There are multiple supporting rollers 141 spaced along the circumferential direction of the accommodating groove and are rotationally connected with the bottom bracket 11 for supporting the disk. 12. The output end of the second driving member 142 is connected to the disc 12 to drive the disc 12 to rotate. Exemplarily, the second driving member 142 is a rotating motor. The output end of the rotating motor is connected to a reducer. A rotating sprocket 143 is provided on the output shaft of the reducer. The running sprocket 44 of the rotating sprocket 143 is provided at both ends of the shaft. The spacer sleeve and gland are used to prevent the rotating sprocket 143 from moving axially. The rotating sprocket 143 is surrounded by a rotating chain 144. The rotating chain 144 is arranged around the outer circumference of the disc 12, and its two ends are fixed on the disc 12. on the circumferential surface. It can be understood that the rotating chain 144 is disposed on the circumferential surface of the disc 12 protruding from the bottom bracket 11 to prevent the supporting roller 141 from interfering with the movement of the rotating chain 144 .

Referring to FIG. 3 , the positioning assembly 15 is disposed on the side of the disk 12 away from the opening of the opening slot 121 , and includes a power arm 151 , a positioning roller 153 , an abutment plate 152 and a third driving member 154 . The abutment plate 152 is disposed on the power arm 151 . The arm 151 faces one side of the opening slot 121 and is perpendicular to the opening slot 121. The positioning roller 153 and the third driving member 154 are respectively located on both sides of the abutment plate 152. The positioning roller 153 can rotate around its own axis. The first part of the power arm 151 One end is hinged with the disc 12, the second end is connected with the positioning roller 153, the output end of the third driving member 154 is connected with the power arm 151, and is configured to drive the power arm 151 to rotate around the first end of the power arm 151 to drive positioning The roller 153 and the contact plate 152 move. The third driving member 154 may specifically be a cylinder or an oil cylinder.

Specifically, with reference to Figures 7-9, the power arm 151 includes a mounting plate 1511 and a connecting plate 1512. The number of the mounting plate 1511 and the connecting plate 1512 is two, and the two mounting plates 1511 are parallel to the abutting plate 152. , two mounting plates 1511 are rotated on the disc 12 through the through shaft. The through shaft is provided with a bearing fixedly connected to the mounting plate 1511. The mounting plate 1511 is provided with a pressing piece that abuts the through shaft to communicate with the through shaft. The shaft is fixed axially and circumferentially. The connecting plate 1512 is arranged in an L shape. Two connecting plates 1512 are respectively arranged on opposite sides of the mounting plate 1511 perpendicular to the abutting plate 152 and away from the disc 12 of the abutting plate 152. Side contact. The positioning roller 153 is rotatably connected to the two connecting plates 1512 through the positioning roller shaft. The positioning roller shaft is provided with bearings and bearing spacers. At the same time, the connecting plate 1512 is also fixed with a pressing piece that is in contact with the positioning roller shaft. The positioning roller is fixed axially and circumferentially. The output end of the third driving member 154 is provided with a fisheye joint, and a fisheye joint shaft with two ends respectively fixed on two mounting plates 1511 is inserted into the fisheye joint.

The displacement mechanism 10 also includes a guide component 16 disposed on the side of the disc 12 facing away from the positioning component 15, for guiding the arc-shaped steel to travel when the arc-shaped steel is placed in the opening slot 121. The arc-shaped steel is disposed from the disc 12 One side of the guide assembly 16 passes through, and then passes out from the side where the positioning assembly 15 is provided. The guide assembly 16 includes two guide rollers 161 parallel to the opening groove 121, and the guide rollers 161 can rotate around their own axes. The distance between the guide roller 161 and the opening groove 121 can be adjusted according to the curvature of the arc-shaped steel, and is not specifically limited in this embodiment.

Referring to FIG. 4 , the guide assembly 16 also includes a roller slide block group. The roller slide block group is provided with two groups. Each roller slide block group includes two roller slide blocks 162 . The two roller slide block groups in the same group include two roller slide block groups. The roller slide blocks 162 are spaced apart along the direction of the opening groove 121 , and the two ends of the guide roller 161 are respectively inserted into the two roller slide blocks 162 to achieve rotational connection with the disc 12 . Specifically, a bearing is provided between the guide roller 161 and the supporting roller slide block 162 .

Referring to Figure 13, the welding mechanism 20 includes a welding robot 21, a welding robot welding machine and a welding robot control cabinet. The welding robot control cabinet is fixed on one side of the welding robot welding machine and has a control system for controlling the welding robot 21. The welding robot welding machine is fixed on the traveling trolley 40 through the support plate 24. The displacement mechanism 10 and the support plate 24 are respectively located on opposite sides of the welding robot 21.

In order to load materials in time, the curved steel welding device in this embodiment also includes a transportation mechanism 30 . The transportation mechanism 30 is connected to the traveling trolley 40 through the support frame 31 and moves together with the traveling trolley 40 . Referring to FIG. 13 , the transportation mechanism 30 includes a transportation robot 32 and a transportation robot control cabinet. The transportation robot control cabinet is equipped with a control system for controlling the transportation robot 32 .

Referring to Figures 10 and 13, the handling robot 32 includes a robot body 321 and a grabbing component 322 arranged on the head of the robot body 321. Driven by the robot body 321, the grabbing component 322 can grab the end plate and transfer it to End plate positioning plate. In this embodiment, the grabbing component 322 includes an electromagnet. In other embodiments, the grabbing component 322 may also be a vacuum suction cup connected to a vacuum generating device.

In order to reduce the grabbing component 322 from colliding with the end plate during grabbing the end plate and damaging the end plate or the grabbing component 322, the grabbing component 322 and the robot body 321 are flexibly connected through a first flexible connection component 323. Under the action of the flexible connection component 323, the grasping component 322 can expand and contract axially relative to the robot body 321.

Referring to Figure 12, the first flexible connection component 323 includes a mounting base 3231, a flexible connecting plate 3232, a connecting rod 3233, a nylon pad 3234, a first buffer spring 3235 and a first nut 3236, where the mounting base 3231 is configured in a U shape. , the grabbing component 322 is installed on the mounting base 3231, the flexible connecting plate 3232 is disk-shaped, and is fixed on the head of the robot body 321. A plurality of connecting rods 3233 are surrounded and penetrated on the flexible connecting plate 3232. Specifically, the connecting rods One end of 3233 passes through the mounting seat 3231 and is screwed to the grabbing component 322, and the other end passes through the flexible connecting plate 3232 along the axial direction of the flexible connecting plate 3232. The connecting rod 3233 is located at both ends of the flexible connecting plate 3232 and is covered with nylon pads 3234. The first buffer spring 3235 and the first nut 3236, of which two nylon pads 3234 are respectively fixed on both sides of the flexible connecting plate 3232. One end of the first buffer spring 3235 is fixedly connected to the nylon pad 3234, and the other end is fixedly connected to the first nut 3236. , under the action of the first buffer spring 3235, the connecting rod 3233 can axially expand and contract relative to the flexible connecting plate 3232. In other embodiments, the first flexible connection component 323 may also use flexible filler or the like.

Referring to Figures 1 and 13, the walking bottom beam 50 includes a ground rail 51 and a forklift channel steel 52 and a walking chain 53 arranged on the ground rail 51. There are two forklift channel steels 52, one located on both sides of the walking chain 53. side and parallel to the traveling chain 53. The traveling trolley 40 includes a trolley body 41, a fourth driving member 42, a composite roller assembly 43 and a traveling sprocket 44. The fourth driving member 42 is disposed on the trolley body 41, and its output end is connected to the trolley body 41. The traveling sprocket 44 is connected, and the traveling sprocket 44 is meshed with the traveling chain 53. Under the action of the fourth driving member 42, the trolley body 41 travels in the direction of the traveling chain 53. The composite roller assembly 43 is arranged on the opposite sides of the trolley body 41. It is slidably matched with the forklift channel steel 52 to guide and limit the main body 41 of the trolley. In this embodiment, the fourth driving member 42 is a traveling motor used in conjunction with a reducer. The reducer is a hollow reducer, and the traveling sprocket 44 is fixed on the hollow connecting shaft of the reducer.

Considering that the walking trolley 40 may vibrate during walking (for example, due to uneven ground), the walking motor and the walking trolley 40 are flexibly connected through the second flexible connection component 45 . Referring to Figures 10 and 11, the second flexible connection component 45 includes a transition plate 451, a second nut 452, a screw 453 and a second buffer spring 454. The transition plate 451 is fixedly connected to the walking motor, and one end of the transition plate 451 is hingedly connected to the walking trolley 40. , the other end is provided with a through hole for the screw rod 453 that is vertically fixed on the walking trolley 40 to pass through. The screw rod 453 is located at both ends of the through hole and is respectively covered with a second buffer spring 454 and a second nut 452. The second buffer spring 454 is in contact with the main body 41 of the trolley.

The working process of the arc-shaped steel welding device in this embodiment will be described in detail below based on what is shown in Figure 14 . Taking the curved steel end plate as an example, firstly, the fourth driving member 42 is driven according to the length of the curved steel, so that the traveling trolley 40 drives the load installed on it (the displacement mechanism 10, the welding mechanism 20, the transport mechanism 30, etc.) During centering walking, the disc 12 of the displacement mechanism 10 rotates until the opening of the opening slot 121 faces upward. At this time, the guide roller 161 remains in a vertical state, and the arc-shaped steel can perform circular motion around its own center under the action of the external conveying structure. , passes through the positioning component 15 of one of the displacement mechanisms 10 and is transported to the positioning component 15 of the other displacement mechanism 10. The positioning component 15 of the displacement mechanism 10 through which the section steel passes for the first time is in the second position. state, the positioning component 15 of the displacement mechanism 10 that the shaped steel passes through for the second time is in the first state, and after the arc-shaped steel contacts the abutment plate 152 in the positioning component 15 of the displacement mechanism 10 that passes through it for the second time, The positioning component 15 of the positioning mechanism through which the profile steel passes first is converted to the first state, and the two groups of walking trolleys 40 continue to walk toward each other. When both ends of the arc-shaped steel are in contact with the positioning rollers 153, the torque of the fourth driving member 42 increases. When the torque increases to the preset upper limit, the fourth driving member 42 stops, the first driving member 133 drives the first connecting rod 136 connected to the first clamping plate 131 to rotate, and the first connecting rod 136 moves toward the opening slot 121 at the same time. , through the meshing transmission between the driving gear 134 and the driven gear 135, the second connecting rod 137 is driven to move in the direction of the opening slot 121 to clamp the arc-shaped steel; after the arc-shaped steel is clamped, the second driving part 142 drives the power arm 151 moves, the displacement mechanism 10 transforms from the first state to the second state. At the same time, the disk 12 rotates 90° to make the opening slot 121 horizontal. The handling robot 32 carries the end plate for electromagnetic adsorption and places it on the arc-shaped steel end face. The welding robot 21 performs end plate welding. After the welding of one side of the end plate is completed, the disc 12 rotates 180° in reverse to weld the other side of the end plate to achieve high-efficiency welding operations.

It should be noted that during the positioning process of the arc-shaped steel, friction occurs between the abutting plate 152 and the abutting plate 152. In order to improve the service life of the abutting plate 152, a wear-resistant layer is provided on the abutting plate 152 or the abutting plate 152 is directly made of a wear-resistant layer. At the same time, the abutment plate 152 is connected to the power arm 151 by means including but not limited to screwing, so as to be replaced regularly.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those of ordinary skill in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of the present invention. An exhaustive list of all implementations is neither necessary nor possible. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model shall be included in the protection scope of the claims of the present utility model.

Claims (10)

1. The mechanism that shifts, its characterized in that includes:

a shoe (11);

a disc (12) rotatably arranged on the collet (11), an open groove (121) is formed in the disc (12), and the open groove (121) is communicated with the circumferential surface of the disc (12);

a rotation driving assembly (14) mounted on the shoe (11) and configured to drive the disc (12) to rotate about its own axis;

a clamping assembly (13) mounted on the disc (12) and configured to clamp the arc steel centrally;

a positioning assembly (15) mounted on the disc (12) and comprising a first condition adjacent the open slot (121) to position the end of the arcuate steel and a second condition remote from the open slot (121).

2. The indexing mechanism according to claim 1, wherein the clamping assembly (13) comprises a first clamping plate (131), a second clamping plate (132) and a first driving member (133), the first clamping plate (131) and the second clamping plate (132) being located on both sides of the open slot (121) and being arranged parallel to the open slot (121), respectively, the first driving member (133) being configured to drive the first clamping plate (131) and the second clamping plate (132) to move towards or away from each other.

3. The indexing mechanism according to claim 2, wherein the clamping assembly (13) further comprises a driving gear (134), a driven gear (135), a first link (136) and a second link (137), wherein the driving gear (134), the driven gear (135), the first link (136) and the second link (137) are all rotatably connected with the disc (12), wherein the driving gear (134) is in meshed connection with the driven gear (135), wherein the driving gear (134) and the first link (136) are respectively rotatably connected with a first end and a second end of the first clamping plate (131), and wherein the first clamping plate (131) is eccentrically connected with the driving gear (134); the driven gear (135) and the second connecting rod (137) are respectively and rotatably connected with the first end and the second end of the second clamping plate (132), the second clamping plate (132) is eccentrically connected with the driven gear (135), the first driving piece (133) is rotatably arranged on the disc (12), and the output end of the first driving piece is rotatably connected with the first connecting rod (136).

4. The displacement mechanism according to claim 2, wherein the clamping assembly (13) further comprises a guard plate (138), the guard plates (138) are arranged on opposite sides of the first clamping plate (131) and the second clamping plate (132), a first end of each guard plate (138) is bent away from the other guard plate (138), and a second end of each guard plate (138) is bent towards a direction approaching the other guard plate (138).

5. The displacement mechanism according to claim 1, wherein the positioning assembly (15) is disposed on a side of the disc (12) away from the opening of the opening groove (121), the positioning assembly (15) comprises a power arm (151), a positioning roller (153), an abutting plate (152) and a third driving member (154), a first end of the power arm (151) is hinged to the disc (12), a second end of the power arm (151) is connected to the positioning roller (153), the positioning roller (153) can rotate around its own axis, the abutting plate (152) is disposed on a side of the power arm (151) facing the opening groove (121) and perpendicular to the opening groove (121), the positioning roller (153) and the third driving member (154) are disposed on two sides of the abutting plate (152), respectively, and an output end of the third driving member (154) is connected to the power arm (151) and configured to drive the power arm (151) to rotate around the first end of the power arm (151).

6. The indexing mechanism according to claim 1, wherein the clamping assembly (13) is located inside the disc (12), the indexing mechanism (10) further comprising a guide assembly (16) arranged on a side of the disc (12) facing away from the positioning assembly (15), the guide assembly (16) comprising two guide rollers (161) parallel to the open slot (121), the guide rollers (161) being rotatable about their own axes.

7. Arc steel end plate welding set, its characterized in that includes walking floorbar (50), walking dolly (40), welding mechanism (20) and as any one of claims 1-6 the mechanism that shifts, walking dolly (40) are provided with two sets of, can move on walking floorbar (50), welding mechanism (20) with mechanism (10) that shifts all are provided with two sets of and respectively two-two symmetrical sets up on two sets of walking dolly (40).

8. The arc steel end plate welding apparatus according to claim 7, further comprising a transfer robot (32), wherein the transfer robot (32) is provided with two groups, and is fixedly connected with the two groups of traveling carts (40) respectively to travel with the traveling carts (40).

9. The arc steel end plate welding apparatus according to claim 8, wherein the handling robot (32) comprises a robot body (321) and a gripping assembly (322), the gripping assembly (322) being for gripping an end plate, the gripping assembly (322) being flexibly connected to the robot body (321).

10. The arc steel end plate welding device according to claim 7, wherein the traveling trolley (40) comprises a trolley main body (41), a fourth driving piece (42) and a traveling chain wheel (44), a traveling chain (53) matched with the traveling chain wheel (44) is arranged on the traveling bottom beam (50), an output end of the fourth driving piece (42) is connected with the traveling chain wheel (44), and the fourth driving piece (42) is flexibly connected with the trolley main body (41).